Table 1
Summary of robotic catheter systems, grouped by actuation mechanism, showing degrees of freedom, catheter driving method, tip articulation, feedback modality, compatible devices, procedural focus, and development status. DOF: degrees of freedom; PCI: percutaneous coronary intervention; PVI: peripheral vascular intervention; PNI: peripheral neurovascular intervention; TMVR: transcatheter mitral valve repair
| ROBOTIC SYSTEM | DOF | DRIVE MECHANISM | TIP ARTICULATION | FEEDBACK | COMPATIBLE DEVICES | APPLICATIONS |
|---|---|---|---|---|---|---|
| Mechanical Systems: Roller-Engaged Platforms | ||||||
| CorPath Systems (Commercial) | 2 & 5 | Friction rollers | None | Visual (X-ray with 3D visualization) | 5F-7F catheter, 0.014” guidewire | PCI, PVI, PNI |
| Sentante (Pre-commercial) | – | Friction rollers | None | Visual (X-ray), Haptic | 2F–8F catheters, 0.014”–0.038” guidewires | PCI |
| Bi-motional Roller Cartridge robot (Choi et al.) (Pre-commercial) | 3 | Friction rollers | None | Visual (X-ray), haptic | Standard catheters and guidewires | PCI |
| Robotic System for Endovascular Surgery (ROSES) (Pre-commercial) | 17 | Friction rollers | None | Visual (X-ray) | 2F-20F catheters and 0.014” guidewires | PCI |
| Liberty (Pre-commercial) | – | Likely Friction rollers | None | Visual (X-ray) | 4F-6F catheters, 2F-3F micro-catheters, 0.014”–0.018” guidewires | PVI |
| Vascular Interventional Robot (VIR-2) (Pre-commercial) | 2 | Friction rollers | None | Visual (X-ray with 3D visualization), haptic | 4F-6F catheters and standard guidewires | PVI, PNI |
| Mechanical Systems: Gripper-Driven Platforms | ||||||
| Robotic Endovascular Intervention system (REIS) (Pre-commercial) | 12 | Four grippers on guide rail with wire-rope assembly | None | Visual (X-ray) | Standard catheters and guidewires, All cylindrical tools between 0.43 mm-40 mm | PVI |
| R-One (Commercial) | 2 | Mechanical pads | None | Visual (X-ray) | Standard catheters and guidewires | PCI |
| Remote-Controlled Vascular Interventional Robot (RVIR) (Pre-commercial) | 2 | Two grippers on linear guide | None | Visual (X-ray), haptic | Standard catheters and guidewires | PNI |
| Mechanical Systems: Tendon-Driven Platforms | ||||||
| Magellan (Commercial) | 2 | Sliding rollers | Pull-wires | Visual (X-ray) | Proprietary 9F and 6F co-axial sheath and guide catheter, 0.014”–0.035” guidewires | PVI, PNI |
| Sensei/Sensei X (Commercial) | 2 | Linear guide | Pull-wires | Visual (X-ray) | Proprietary 10.5F and 14F co-axial sheath and guide-catheters, < 8.5F ablation catheter | Cardiac ablation |
| Amigo (Commercial) | 2 | Friction rollers | Pull-wires | Visual (X-ray with 3D visualization) | Standard ablation and mapping catheters | Cardiac ablation |
| Capstan (Pre-commercial) | 3-4 | Friction rollers | Pull-wires | Visual (Likely TEE and X-ray) | – | Mitral repair |
| SurgiPulse (Pre-commercial) | 5-6 | – | Pull-wires | Visual (TEE, X-ray) | Steerable guiding catheter, standard guidewires, MitraClip™ G4 and other similar sized mitral repair devices | Mitral repair |
| Microfluidic Systems | ||||||
| Coral (Pre-commercial) | 2-3 | – | Fluid filled balloon-array | Visual (likely X-ray) | Guidewires, microcatheters, and proprietary Clipper™ tool | Mitral repair |
| Stimuli-Responsive Systems | ||||||
| X-Cath (Pre-commercial) | 2 | Friction rollers | Electroactive polymer | Visual (likely X-ray) | Standard microcatheters and guidewires and may include other additional thrombectomy tools | PVI |
| Magnetic Systems | ||||||
| Stereotaxis Robotic Magnetic Navigation (RMN) System (Commercial) | 3 | V-Drive™ (Linear guide) | Magnetic tip and two external static magnetic fields | Visual (X-ray with 3D visualization) | Magnetically enabled standard ablation, mapping, and diagnostic catheters and new MAGiC™ proprietary catheter | Cardiac ablation, PCI |
| Catheters Guidance Control and Imaging (CGCI) (Commercial) | 3 | Linear guide | Magnetic tip with external eight electromagnets | Visual (X-ray) | Proprietary ablation catheters | Cardiac ablation |
Figure 1
Commercial robotic systems used in endovascular and electrophysiological interventions. (A) CorPath® GRX; (B) CorPath® 200; (C) Liberty®; (D) R-One®; (E) Sensei®; (F) Magellan™; (G) Amigo™; (H) Stereotaxis™ Remote Magnetic Navigation; (I) Catheter Guidance Control and Imaging™
Figure 2
Pre-commercial and investigational robotic systems under academic or industrial development. (A) Sentante™; (B) Bimotional roller cartridge (Choi et al.); (C) Robotic System for Endovascular Surgery; (D) vascular interventional robot; (E) Robotic Endovascular Intervention System; (F) remote-controlled vascular interventional robot; (G) Coral™; (H) SurgiPulse; (I) Capstan™; (J) X-Cath™